Modern Robotics, Course 3: Robot Dynamics from Coursera

Do you want to know how robots work? Are you interested in robotics as a career? Are you willing to invest the effort to learn fundamental mathematical modeling techniques that are used in all subfields of robotics?

If so, then the "Modern Robotics: Mechanics, Planning, and Control" specialization may be for you. This specialization, consisting of six short courses, is serious preparation for serious students who hope to work in the field of robotics or to undertake advanced study. It is not a sampler.

In Course 3 of the specialization, Robot Dynamics, you will learn efficient numerical algorithms for forward dynamics (calculating the robot's acceleration given its configuration, velocity, and joint forces and torques) and inverse dynamics (calculating the required joint forces and torques given the robot's configuration, velocity, and acceleration). The former is useful for simulation, and the latter is useful for robot control. You will also learn how to plan robot trajectories subject to dynamic constraints.

This course follows the textbook "Modern Robotics: Mechanics, Planning, and Control" (Lynch and Park, Cambridge University Press 2017). You can purchase the book or use the free preprint pdf. You will build on a library of robotics software in the language of your choice (among Python, Mathematica, and MATLAB) and use the free cross-platform robot simulator V-REP, which allows you to work with state-of-the-art robots in the comfort of your own home and with zero financial investment.

What's inside

Syllabus

Chapter 8: Dynamics of Open Chains (Part 1 of 2)

Lagrangian formulation of dynamics, centripetal and Coriolis forces, robot mass matrix, dynamics of a rigid body, and Newton-Euler inverse dynamics for an open-chain robot.

Chapter 8: Dynamics of Open Chains (Part 2 of 2)

Forward dynamics of an open chain, task-space dynamics, constrained dynamics, and practical effects due to gearing and friction.

Chapter 9: Trajectory Generation (Part 1 of 2)

Point-to-point "straight-line" trajectories and polynomial trajectories passing through via points.

Chapter 9: Trajectory Generation (Part 2 of 2)

Time-optimal motions along a specified path subject to robot dynamics and actuator limits.

Good to know

Know what's good

, what to watch for

, and possible dealbreakers

Teaches essential numerical algorithms for robot dynamics used in various robotics subfields

Builds on a library of robotics software and uses the free cross-platform robot simulator V-REP, allowing learners to work with advanced robotics without financial investment

Suitable for serious students aiming to work in robotics or pursue advanced studies

Requires extensive mathematical background and a strong foundation in robotics concepts

Reviews summary

Well-received robotics course

Learners largely agree that Modern Robotics, Course 3: Robot Dynamics is a well-received course that provides good explanations and engaging assignments. Students appreciate the great series of courses and the peer-graded assignments. However, some learners mention that the exams and projects are not challenging. Additionally, a few students express that the solutions to quizzes are not always provided.

Assignments, including peer-graded assignments, are enjoyable.

"Thankyou sir , it was a wonderful journey into the depths of Robot Dynamics !"

"Good Explanations and Great Peer-Graded Assignment"

"Great course. More examples would be helpful"

Course material is well-explained.

"Good Explanations and Great Peer-Graded Assignment"

"Great course! I especially liked last two weeks dedicated to trajectory generation."

"Solid course. The lectures complemented the chapters in the textbook well, each helped cover for some of the weak points of the other."

Solutions to quizzes are not always provided.

"Great Course, learned a lot, but the solutions to the quizzes or questions are not provided for many questions once the correct answer is selected for them."

"Without the solutions, I have no idea about the logic behind getting that answer and feel like I have still more to learn."

Exams and projects are not challenging enough.

"I felt like the exams and projects were generally not challenging enough, and therefore does not push the student to understand the material past a surface level."

"One good assignment which is 5 stars rating, explanatory part of course is 3 rating. Quizes is 4 stars which is in average 4 stars for me."

Activities

Be better prepared before your course. Deepen your understanding during and after it. Supplement your coursework and achieve mastery of the topics covered in Modern Robotics, Course 3: Robot Dynamics with these activities:

Review 'Modern Robotics: Mechanics, Planning, and Control'

Show steps

Clarify core concepts of robot dynamics that will be important for the course.

View Modern Robotics on Amazon

Show steps

Read Chapter 6: Rigid Body Dynamics
Read Chapter 7: Lagrangian Dynamics
Complete problem set for Chapters 6 and 7

Organize a study group on robot dynamics

Show steps

Enhance understanding of robot dynamics by discussing concepts and solving problems with peers.

Browse courses on Robot Dynamics

Show steps

Recruit a group of peers who are also taking the course
Set up a regular meeting schedule
Prepare discussion topics and problem sets for each meeting
Meet regularly to discuss the material

Simulate robot dynamics in V-REP

Show steps

Gain hands-on experience with robot dynamics by simulating robots in the V-REP simulator.

Browse courses on Robot Simulation

Show steps

Install the V-REP simulator
Load a robot model into V-REP
Write a script to control the robot's joints
Write a script to visualize the robot's dynamics

Four other activities

Expand to see all activities and additional details

Show all seven activities

Write code to compute robot dynamics

Show steps

Practice writing code to compute robot dynamics, which is essential for robot control, planning, and simulation.

Browse courses on Robot Dynamics

Show steps

Select a robot manipulator (e.g., 2R, 3R, or 4R)
Write a function to compute the robot's mass matrix
Write a function to compute the robot's Coriolis and centrifugal forces
Write a function to compute the robot's gravity forces
Write a function to solve the robot's forward dynamics
Write a function to solve the robot's inverse dynamics

Attend a workshop on robot dynamics

Show steps

Gain exposure to advanced topics and techniques in robot dynamics by attending a workshop led by experts.

Browse courses on Robot Dynamics

Show steps

Search for upcoming workshops on robot dynamics
Register for a relevant workshop
Attend the workshop and take notes
Apply the knowledge gained in the workshop to your course work

Create a tutorial on robot dynamics

Show steps

Solidify understanding of robot dynamics by creating a tutorial that explains the concepts to others.

Browse courses on Robot Dynamics

Show steps

Choose a specific topic in robot dynamics (e.g., forward dynamics, inverse dynamics, trajectory planning)
Gather and organize relevant information from the course materials and other resources
Write a clear and concise script
Record a video of yourself explaining the topic
Edit and publish the tutorial

Develop a robot dynamics simulation

Show steps

Deepen understanding of robot dynamics by developing a simulation that models the behavior of a robot.

Browse courses on Robot Dynamics

Show steps

Choose a specific robot manipulator to simulate
Develop a mathematical model of the robot's dynamics
Implement the model in a simulation software (e.g., MATLAB, Python, C++)
Validate the simulation by comparing its results to analytical solutions or experimental data

Career center

Learners who complete Modern Robotics, Course 3: Robot Dynamics will develop knowledge and skills that may be useful to these careers:

Robotics Engineer

Robotics Engineers design, build, and maintain robots and robotic systems. They use their knowledge of mechanical engineering, electrical engineering, and computer science to create robots that can perform a variety of tasks, from manufacturing to healthcare. The Modern Robotics specialization can help you build a strong foundation in the fundamentals of robotics, which will be essential for success in this role.

See salaries and explore the career path for Robotics Engineer

Systems Engineer

Systems Engineers are responsible for designing, developing, and integrating complex systems. They work with a variety of stakeholders to ensure that systems meet the needs of users and organizations. The Modern Robotics specialization can help you develop the skills needed to design and build robotic systems, which are becoming increasingly common in a variety of industries.

See salaries and explore the career path for Systems Engineer

Control Systems Engineer

Control Systems Engineers design and implement control systems for a variety of applications, including robotics, manufacturing, and transportation. The Modern Robotics specialization can help you build a strong foundation in the fundamentals of control theory, which is essential for success in this role.

See salaries and explore the career path for Control Systems Engineer

Mechatronics Engineer

Mechatronics Engineers design and build systems that integrate mechanical, electrical, and computer engineering. They work on a variety of projects, from medical devices to industrial robots. The Modern Robotics specialization can help you develop the skills needed to design and build robotic systems, which are a key part of many mechatronic systems.

See salaries and explore the career path for Mechatronics Engineer

Automation Engineer

Automation Engineers design and implement automated systems for a variety of applications, including manufacturing, transportation, and healthcare. The Modern Robotics specialization can help you develop the skills needed to design and build robotic systems, which are a key part of many automated systems.

See salaries and explore the career path for Automation Engineer

Project Manager

Project Managers are responsible for planning, executing, and closing projects. They work with a variety of stakeholders to ensure that projects are completed on time, within budget, and to the satisfaction of stakeholders. The Modern Robotics specialization can help you develop the skills needed to manage projects involving robotics.

See salaries and explore the career path for Project Manager

Data Scientist

Data Scientists use data to solve problems and make decisions. They work in a variety of industries, including finance, healthcare, and manufacturing. The Modern Robotics specialization can help you develop the skills needed to collect and analyze data from robotic systems, which can be used to improve the performance of robots and systems.

See salaries and explore the career path for Data Scientist

Software Engineer

Software Engineers design, develop, and maintain software systems. They work on a variety of projects, from mobile apps to enterprise software. The Modern Robotics specialization can help you develop the skills needed to design and build software for robotic systems.

See salaries and explore the career path for Software Engineer

Product Manager

Product Managers are responsible for the development and launch of new products. They work with a variety of stakeholders to ensure that products meet the needs of users and organizations. The Modern Robotics specialization can help you develop the skills needed to manage the development of robotic products.

See salaries and explore the career path for Product Manager

Industrial Engineer

Industrial Engineers design and implement systems to improve productivity and efficiency. They work with engineers and other team members to identify and solve problems in manufacturing and other industries. The Modern Robotics specialization can help you develop the skills needed to design and implement robotic systems to improve productivity and efficiency.

See salaries and explore the career path for Industrial Engineer

Manufacturing Engineer

Manufacturing Engineers design and implement manufacturing processes. They work with engineers and other team members to ensure that products are manufactured efficiently and to the highest quality standards. The Modern Robotics specialization can help you develop the skills needed to manufacture robotic systems.

See salaries and explore the career path for Manufacturing Engineer

Technical Writer

Technical Writers create documentation for a variety of products and services. They work with engineers and other technical experts to gather information and create clear and concise documentation. The Modern Robotics specialization can help you develop the skills needed to write documentation for robotic systems.

See salaries and explore the career path for Technical Writer

Sales Engineer

Sales Engineers help customers select and implement products and services. They work with customers to understand their needs and provide them with the best solutions. The Modern Robotics specialization can help you develop the skills needed to sell robotic systems to customers.

See salaries and explore the career path for Sales Engineer

Operations Research Analyst

Operations Research Analysts use mathematical and statistical models to solve problems in a variety of industries. They work with engineers and other team members to identify and solve problems in manufacturing, transportation, and other industries. The Modern Robotics specialization can help you develop the skills needed to use mathematical and statistical models to solve problems in robotics.

See salaries and explore the career path for Operations Research Analyst

Quality Assurance Engineer

Quality Assurance Engineers ensure that products and services meet quality standards. They work with engineers and other team members to test products and identify and fix defects. The Modern Robotics specialization can help you develop the skills needed to test and validate robotic systems.

See salaries and explore the career path for Quality Assurance Engineer